CN114906208B - Torque corner control system and electronic power steering controller - Google Patents
Torque corner control system and electronic power steering controller Download PDFInfo
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- CN114906208B CN114906208B CN202110178722.6A CN202110178722A CN114906208B CN 114906208 B CN114906208 B CN 114906208B CN 202110178722 A CN202110178722 A CN 202110178722A CN 114906208 B CN114906208 B CN 114906208B
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- 238000004364 calculation method Methods 0.000 description 2
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D5/00—Power-assisted or power-driven steering
- B62D5/04—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear
- B62D5/0457—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear characterised by control features of the drive means as such
- B62D5/046—Controlling the motor
- B62D5/0463—Controlling the motor calculating assisting torque from the motor based on driver input
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D6/00—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits
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Abstract
The invention provides a torque corner control system and an electronic power steering controller, wherein the torque corner control system is suitable for the electronic power steering controller with two torque and corner sensors, and comprises a first torque channel, a second torque channel, a first corner channel and a second corner channel, wherein the first torque channel and the second torque channel respectively correspond to one torque sensor, the first corner channel and the second corner channel respectively correspond to one corner sensor, torque signals of the first torque channel and the second torque channel are mutually verified, when torque signals of any one channel fail, torque signals of the other channel are kept to be output, and when corner signals of any one channel fail, corner signals of the first corner channel and the second corner channel are mutually verified, and the corner signals of the other channel are kept to be output. Through the technical scheme of the invention, the safety of the electric power steering control system can be effectively improved, and the driving safety is ensured.
Description
Technical Field
The invention relates to the field of electronic power steering control, in particular to a torque rotation angle control system and an electronic power steering controller.
Background
The existing electric power steering control system (EPS) is composed of a corner torque sensor, a vehicle speed sensor, a control unit processor, a power-assisted motor and the like. The steering wheel torque signal and the vehicle speed signal measured by the steering angle torque sensor are sent to the control unit processor, and the steering and power-assisted current of the power-assisted motor are determined through processing and calculation of the processor, so that the steering power-assisted control is completed. However, the existing electric power steering control system is designed based on the improvement of power assistance for steering of a driver, the functional safety level of the electric power steering control system can only reach ASIL-B, and if each node is abnormal, the whole electric power steering control system is invalid, so that serious consequences can be brought to safe driving.
Therefore, the invention provides a torque corner control system and an electronic power steering controller, which adopt 2 torque channels and 2 corner channels through configuring two sets of independent parallel processing units, and the two channels are mutually verified, so that the reliability of the system can be submitted, and when one of the systems fails, the system can be directly switched to the other system and cooperatively controlled, thereby improving the safety.
Disclosure of Invention
In order to solve the problems, the invention aims to provide a torque corner control system and an electronic power steering controller, wherein 2 torque channels and 2 corner channels which are arranged in parallel in a redundant manner are utilized to check each other, so that the reliability of the system is improved, and when one of the systems fails, the system can be directly switched to the other system to cooperatively control the other systems, so that the safety of the system is improved, and the safe driving is ensured.
Specifically, the invention provides a torque corner control system, which is applicable to an electronic power steering controller with two torque sensors and two corner sensors, and is characterized by comprising a first torque channel, a second torque channel, a first corner channel and a second corner channel; the first torque channel and the second torque channel respectively correspond to a torque sensor, and the first corner channel and the second corner channel respectively correspond to a corner sensor; the torque signals of the first torque channel and the second torque channel are mutually verified, and when the torque signal of any one channel is wrong, the torque signal of the other channel is kept to be output; the corner signals of the first corner channel and the second corner channel are mutually checked, and when the corner signal of any channel is wrong, the corner signal of the other channel is kept to be output; the torque sensor and the rotation angle sensor are physically independent or integrated.
Preferably, in the above system, the first torque channel and the second torque channel have two torque paths respectively; two paths of torque signals in two torque paths of the same torque channel are mutually checked, and when any one of the two paths of torque signals is wrong, the other path of torque signals is normally output; after the verification of the two paths of torque signals in the two torque paths of the same torque channel is completed, the torque signals of different channels are mutually verified.
Preferably, the system further comprises self-checking before two torque signals of the same torque channel are mutually checked.
Preferably, when the self-checking of the torque signal in the system finds errors, the error of the torque signal is determined; when two torque signals of the same torque channel are simultaneously wrong, the torque signal of the torque channel is considered to be wrong.
Preferably, in the above system, the first torque channel is a master torque channel, and the second torque channel is a slave torque channel; the step of mutually verifying the torque signals of the first torque channel and the second torque channel comprises the following steps: comparing whether the signal of the first torque channel and the signal of the second torque channel are within an error range; if the torque signal is within the error range, checking and passing, and outputting the torque signal of the main torque channel; if the torque signal is not in the error range, the torque signal in the main torque channel is trusted, the torque signal in the auxiliary torque channel is determined to be an error signal, the torque signal of the main torque channel is output, and fault diagnosis is carried out on the first torque channel and the second torque channel.
Preferably, two torque paths of the same torque channel in the system are divided into a master torque path and a slave torque path; the step of mutually verifying two torque signals in two torque paths of the same torque channel comprises the following steps: comparing whether the torque signals of the master torque path and the slave torque path are within an error range; if the torque signal is within the error range, checking and passing, outputting the torque signal of the main torque path to check the torque signals among different paths; if the torque signal is not in the error range, the torque signal in the main torque path is trusted, the torque signal in the auxiliary torque path is determined to be an error signal, the torque signal of the main torque path is output, and fault diagnosis is carried out on the first torque path and the second torque path.
Preferably, in the above system, the first corner channel is a main corner channel, and the second corner channel is a sub-corner channel; the step of checking the rotation angle signals of the first rotation angle channel and the second rotation angle channel mutually comprises the following steps: comparing whether the signal of the first corner channel and the signal of the second corner channel are in an error range; if the angle is within the error range, checking and outputting a rotation angle signal of the main rotation angle channel; if the angle signal is not in the error range, the angle signal in the main angle channel is trusted, the angle signal in the auxiliary angle channel is recognized as an error signal, the angle signal of the main angle channel is output, and fault diagnosis is carried out on the first angle channel and the second angle channel.
Preferably, in the above system, the first corner channel and the second corner channel each include a main channel and a following channel, and the corner signal in the following channel is used for verifying the corner signal of the main channel through a following algorithm, and when the verification of the corner signal in the following channel and the corner signal of the main channel fails, the corner signal in the corresponding corner channel is wrong.
The invention also provides an electronic power-assisted steering controller, which comprises any one of the torque corner control systems.
After the technical scheme is adopted, compared with the prior art, the method has the following beneficial effects:
1. the reliability and the stability of the electronic power steering control system are effectively improved;
2. and the driving safety is ensured.
Drawings
FIG. 1 is a schematic diagram of a torque angle control system according to a preferred embodiment of the present invention.
Detailed Description
Advantages of the invention are further illustrated in the following description, taken in conjunction with the accompanying drawings and detailed description.
Reference will now be made in detail to exemplary embodiments, examples of which are illustrated in the accompanying drawings. When the following description refers to the accompanying drawings, the same numbers in different drawings refer to the same or similar elements, unless otherwise indicated. The implementations described in the following exemplary examples are not representative of all implementations consistent with the present disclosure. Rather, they are merely examples of apparatus and methods consistent with some aspects of the present disclosure as detailed in the accompanying claims.
The terminology used in the present disclosure is for the purpose of describing particular embodiments only and is not intended to be limiting of the disclosure. As used in this disclosure and the appended claims, the singular forms "a," "an," and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. It should also be understood that the term "and/or" as used herein refers to and encompasses any or all possible combinations of one or more of the associated listed items.
It should be understood that although the terms first, second, third, etc. may be used in this disclosure to describe various information, these information should not be limited to these terms. These terms are only used to distinguish one type of information from another. For example, first information may also be referred to as second information, and similarly, second information may also be referred to as first information, without departing from the scope of the present disclosure. The word "if" as used herein may be interpreted as "at … …" or "at … …" or "in response to a determination" depending on the context.
In the following description, suffixes such as "module", "component", or "unit" for representing elements are used only for facilitating the description of the present invention, and are not of specific significance per se. Thus, "module" and "component" may be used in combination.
Referring to fig. 1, a schematic structure diagram of a torque angle control system according to a preferred embodiment of the present invention is suitable for an electronic power steering controller having two torque sensors and two angle sensors, and includes a first torque channel, a second torque channel, a first angle channel, and a second angle channel. The invention discloses a torque sensor and a rotation angle sensor of an electronic power steering controller, which are used for respectively collecting torque information and rotation angle information applied to a steering wheel by a driver, wherein the torque sensor and the rotation angle sensor are physically independent or integrated, namely, can be independent torque sensors and rotation angle sensors or can be physically integrated torque rotation angle sensors, and belong to the technical scheme of the invention. The first torque channel and the second torque channel correspond to one torque sensor respectively, namely, the two torque channels correspond to one torque sensor respectively, and the acquired signals come from two independent sensors. The first corner channel and the second corner channel correspond to one corner sensor respectively, namely, the two corner channels also correspond to one corner sensor respectively, and the acquired signals come from two independent sensors. When the torque signal of any one channel is wrong, the torque signal of the other channel is kept to be output; and the corner signals of the first corner channel and the second corner channel are mutually verified, and when the corner signal of any channel is wrong, the corner signal of the other channel is kept to be output.
It should be noted that, the error of the torque signal or the error of the rotation angle signal of a certain channel includes both the failure or the error of the torque signal or the rotation angle signal caused by the hardware failure of the torque or the rotation angle sensor, and the transmission error caused by the error of the torque channel or the rotation angle channel.
In the technical scheme, if any torque or corner sensor has hardware faults, a torque signal or a corner signal in a corresponding torque channel or corner channel fails or is wrong, but a torque signal or a corner signal in a corresponding torque channel or corner channel of another torque or corner sensor can still be normally output, so that the normal and stable operation of the whole electronic power steering control system is ensured. If each torque and corner sensor all normally works, but a certain torque channel or corner channel breaks down, the rest torque channel and corner channel can normally work, so that the output of torque signals and corner signals is ensured, the normal and stable work of the whole electronic power steering control system is ensured, driving assistance is provided for a driver, and driving safety is ensured.
According to the technical scheme, on one hand, the normal operation of the system can be guaranteed as much as possible when faults occur, and on the other hand, the reliability of the system can be improved through redundancy check, so that the driving safety is finally guaranteed.
Based on the above embodiments, in a preferred embodiment according to the present invention, the first torque channel and the second torque channel have two torque paths, respectively; two paths of torque signals in two torque paths of the same torque channel are mutually checked, and when any one of the two paths of torque signals is wrong, the other path of torque signals is normally output; after the verification of the two paths of torque signals in the two torque paths of the same torque channel is completed, the torque signals of different channels are mutually verified.
In the technical scheme, each torque channel is internally provided with two torque channels, and the two torque channels of the same torque channel respectively and independently transmit torque signals of the steering wheel acquired by the same sensor. Therefore, two independent paths are arranged for transmitting torque signals acquired by each sensor, and the paths are mutually verified, when one path fails, the other path can normally output, and the channel can still normally output the torque signals. The two paths of signals in each path of torque channel work simultaneously, and the absolute value of the torque is diagnosed and checked mutually so as to achieve more accurate signal output. After the two torque channels respectively output torque signals, diagnosis and verification are carried out between the channels, so that the reliability of the whole electronic power steering control system is provided through two-stage verification.
Based on the above embodiment, in a preferred embodiment consistent with the present invention, before the two torque signals of the same torque channel are mutually verified, a self-checking process is further included, preferably, the self-checking process includes detecting one or more of input and output voltages of electronic components, error calibration bits, failure identification bits, duty cycle, time frequency, and the like, and by the self-checking process, the reliability of the torque signals can be effectively improved, thereby improving the reliability of the whole system. When the torque signals in each torque channel are checked by the hardware circuit and no error instruction is sent, for example, the signal sending delay or the voltage value is incorrect, the two torque signals of the same torque channel are checked with each other. If a false instruction is sent out when one path of torque signal self-checking exists, the torque signal is determined to be a false signal, and then the other path of torque signal self-checking error-free torque signal of the torque channel is output without checking and is checked with the torque signal in the other channel.
Based on the above embodiments, in a preferred embodiment consistent with the present invention, when the torque signal self-test finds an error, the torque signal self-test identifies the error; when two torque signals of the same torque channel are simultaneously wrong, the torque signal of the torque channel is considered to be wrong.
Based on the above embodiments, in a preferred embodiment consistent with the present invention, the first torque channel is a master torque channel, and the second torque channel is a slave torque channel; the step of mutually verifying the torque signals of the first torque channel and the second torque channel comprises the following steps: comparing whether the signal of the first torque channel and the signal of the second torque channel are within an error range; if the torque signal is within the error range, checking and passing, and outputting the torque signal of the main torque channel; if the torque signal is not in the error range, the torque signal in the main torque channel is trusted, the torque signal in the auxiliary torque channel is determined to be an error signal, the torque signal of the main torque channel is output, and fault diagnosis is carried out on the first torque channel and the second torque channel.
In the technical scheme, a master-slave relation is set for the torque channels, if the two channels output torque signals normally, the torque signals of the two channels are checked, whether the signals of the first torque channel and the signals of the second torque channel are in an error range or not is compared, if the signals of the first torque channel and the signals of the second torque channel are in the error range, the two torque channels are indicated to work normally, and the signals of the main torque channel, namely the first torque channel, are output; if the torque signals are not in the error range, the fact that one or two torque channels do not work normally is indicated, the torque signals in the main torque channel are firstly and absolutely trusted, the torque signals in the auxiliary torque channel are confirmed to be error signals, the torque signals of the main torque channel are output, meanwhile, fault diagnosis is conducted on the first torque channel and the second torque channel to find out the reason that the signals of the two torque channels are not in the error range, and repair is conducted. The invention does not limit the control unit or the execution main body when the first torque channel and the second torque channel are subjected to fault diagnosis, but only outputs signals needing to carry out fault diagnosis on the first torque channel and the second torque channel, and the signals are controlled by the corresponding modules to carry out fault diagnosis.
Based on the above embodiment, the first torque channel is a master channel, the second torque channel is a slave channel, when the first torque channel fails or is wrong, if no signal is input to the control unit, the control unit cuts off the power input of the channel, at this time, the slave channel is kept to work normally in the whole system, at this time, the power input of the whole system is half of the power input in normal work, namely, the derated 50% output, and still the driver can drive the vehicle to the maintenance place. When the second torque channel fails or is wrong, if no signal is input to the control unit, the first main torque channel can take over the second auxiliary torque channel at the moment, and the signals of the main torque channel are sent to the first control unit and the second control unit, so that the controller is ensured to still output according to full power.
Based on the above embodiments, in a preferred embodiment consistent with the present invention, two torque paths of the same torque channel are divided into a master torque path and a slave torque path; the step of mutually verifying two torque signals in two torque paths of the same torque channel comprises the following steps: comparing whether the torque signals of the master torque path and the slave torque path are within an error range; if the torque signal is within the error range, checking and passing, outputting the torque signal of the main torque path to check the torque signals among different paths; if the torque signal is not in the error range, the torque signal in the main torque path is trusted, the torque signal in the auxiliary torque path is determined to be an error signal, the torque signal of the main torque path is output, and fault diagnosis is carried out on the first torque path and the second torque path.
In the technical scheme, a master-slave relation is set for the torque paths in the same torque channel, after the self-inspection of the torque signal hardware in the torque paths is passed, whether the torque signals in the two torque paths are in an error range or not during the inspection is judged, the master torque path is trusted absolutely, the torque signals in the master torque path are output, but when the two torque signals are not in the error range during the inspection, fault diagnosis is carried out on the first torque path and the second torque path after the signals are output, and the reasons are searched and repaired. The invention does not limit the control unit or the execution body when the first torque passage and the second torque passage are subjected to fault diagnosis, but only outputs signals needing to carry out fault diagnosis on the first torque passage and the second torque passage, and the corresponding modules control the fault diagnosis.
Based on the above embodiments, in a preferred embodiment according to the present invention, the first corner channel is a master corner channel, and the second corner channel is a slave corner channel; the step of checking the rotation angle signals of the first rotation angle channel and the second rotation angle channel mutually comprises the following steps: comparing whether the signal of the first corner channel and the signal of the second corner channel are in an error range; if the angle is within the error range, checking and outputting a rotation angle signal of the main rotation angle channel; if the angle signal is not in the error range, the angle signal in the main angle channel is trusted, the angle signal in the auxiliary angle channel is recognized as an error signal, the angle signal of the main angle channel is output, and fault diagnosis is carried out on the first angle channel and the second angle channel.
In the technical scheme, a master-slave relation is set for the corner channels, if the two channels output corner signals normally, the corner signals of the two channels are checked, whether the signals of the first corner channel and the signals of the second corner channel are in an error range or not is compared, if the signals of the first corner channel and the signals of the second corner channel are in the error range, the two corner channels are indicated to work normally, and the signals of the main corner channel, namely the first corner channel, are output; if the two corner channels are not in the error range, the fact that one or two corner channels do not work normally is indicated, the corner signals in the main corner channel are firstly trusted absolutely, the corner signals in the auxiliary corner channel are considered to be error signals, the corner signals of the main corner channel are output, meanwhile, fault diagnosis is conducted on the first corner channel and the second corner channel to find out reasons that the signals of the two corner channels are not in the error range, and repair is conducted. The invention does not limit the control unit or the execution main body when the first corner channel and the second corner channel are subjected to fault diagnosis, but only outputs signals needing to carry out fault diagnosis on the first corner channel and the second corner channel, and the signals are controlled by the corresponding modules to carry out fault diagnosis.
Based on the above embodiment, in a preferred embodiment according to the present invention, the first corner channel and the second corner channel each include a main channel and a following channel, the corner signal in the following channel is used to verify the corner signal of the main channel through the following algorithm, and when the verification of the corner signal in the following channel and the corner signal of the main channel fails, the corner signal in the corresponding corner channel is wrong.
In the technical scheme, two macroscopic corner channels work simultaneously, a corner signal is sent to a micro control unit, the micro control unit obtains an absolute steering wheel angle through a vernier algorithm, and the absolute steering wheel angle is set through a master-slave mode, the value of the master channel is believed to be absolute in verification, and the two channels are triggered to be diagnosed when the values of the first corner channel and the second corner channel are not in an error range. In actual work in microcosmic, when each channel fires, the steering wheel absolute position at this moment is gathered to the corner sensor immediately, has two paths of signals in each channel in steering wheel rotation in-process, and the main signal gathers and sends to the control unit, and still other signals use following algorithm to check the main signal simultaneously, when the check passes, output the main signal, and when the check failed, the corner signal in this channel became invalid. By the technical scheme of the invention, when the rotation angle signals in the two channels are inconsistent or deviate, the main channel is believed to be absolutely and the auxiliary channel is discarded, and the functions of the application layer are not affected, such as: the steering wheel is in a return, automatic parking and automatic driving state, and the electronic power steering control system is different from the torque sensor in that the electronic power steering control system cannot enter an ECU degradation mode, so that the safety of the electronic power steering control system can be further improved.
In the technical scheme of the invention, in the electronic power-assisted steering control system, torque signals pass through at most three levels of check, the first level of check is self-check, the second level of check is check among different torque paths of the same torque channel, the third level of check is check among different torque channels, the corner signals also pass through the at most three levels of check, the first level of check is self-check, the second level of check is signal following check in the same torque channel, the third level of check is check among different torque channels, and after the check is finished, power-assisted calculation is performed through the control unit according to the output torque and the corner signals. By the technical scheme, the accuracy and the reliability of torque and rotation angle signals are effectively improved, the stability and the reliability of the electronic power steering control system are improved, and driving safety is further guaranteed.
The invention also provides an electronic power-assisted steering controller which comprises any torque corner control system.
Through the technical scheme of the invention, two sets of independent parallel processing units are configured to adopt 2 torque channels and 2 corner channels, and the two channels are mutually verified, so that the reliability of the system can be improved, more accurate signal output is achieved, and when one of the two channels fails, the two channels can be directly switched to the other set of system and are mutually cooperatively controlled, so that the safety is improved.
It should be noted that the embodiments of the present invention are preferred and not limited in any way, and any person skilled in the art may make use of the above-disclosed technical content to change or modify the same into equivalent effective embodiments without departing from the technical scope of the present invention, and any modification or equivalent change and modification of the above-described embodiments according to the technical substance of the present invention still falls within the scope of the technical scope of the present invention.
Claims (8)
1. The torque corner control system is suitable for an electronic power steering controller with two torque sensors and two corner sensors, and is characterized by comprising a first torque channel, a second torque channel, a first corner channel and a second corner channel;
the first torque channel and the second torque channel respectively correspond to a torque sensor, and the first corner channel and the second corner channel respectively correspond to a corner sensor;
The torque signals of the first torque channel and the second torque channel are mutually verified, and when the torque signal of any one channel is wrong, the torque signal of the other channel is kept to be output;
the corner signals of the first corner channel and the second corner channel are mutually checked, and when the corner signal of any channel is wrong, the corner signal of the other channel is kept to be output;
the torque sensor and the rotation angle sensor are physically independent or are integrated;
The first corner channel is a main corner channel, and the second corner channel is a secondary corner channel;
The step of checking the rotation angle signals of the first rotation angle channel and the second rotation angle channel mutually comprises the following steps:
Comparing whether the signal of the first corner channel and the signal of the second corner channel are in an error range;
if the angle is within the error range, checking and outputting a rotation angle signal of the main rotation angle channel; if the angle signal is not in the error range, the angle signal in the main angle channel is trusted, the angle signal in the auxiliary angle channel is recognized as an error signal, the angle signal of the main angle channel is output, and fault diagnosis is carried out on the first angle channel and the second angle channel.
2. The torque angle control system of claim 1, wherein the first torque passage and the second torque passage each have two torque passages;
two paths of torque signals in two torque paths of the same torque channel are mutually checked, and when any one of the two paths of torque signals is wrong, the other path of torque signals is normally output;
After the verification of the two paths of torque signals in the two torque paths of the same torque channel is completed, the torque signals of different channels are mutually verified.
3. The torque angle control system of claim 2, wherein the two torque signals of the same torque channel further comprise a self-test before the two torque signals are mutually verified.
4. The torque angle control system of claim 3, wherein when the torque signal self-test finds an error, the torque signal is asserted to be erroneous; when two torque signals of the same torque channel are simultaneously wrong, the torque signal of the torque channel is considered to be wrong.
5. The torque angle control system of any one of claims 1-4, wherein the first torque passage is a master torque passage and the second torque passage is a slave torque passage;
The step of mutually verifying the torque signals of the first torque channel and the second torque channel comprises the following steps:
comparing whether the signal of the first torque channel and the signal of the second torque channel are within an error range;
if the torque signal is within the error range, checking and passing, and outputting the torque signal of the main torque channel;
if the torque signal is not in the error range, the torque signal in the main torque channel is trusted, the torque signal in the auxiliary torque channel is determined to be an error signal, the torque signal of the main torque channel is output, and fault diagnosis is carried out on the first torque channel and the second torque channel.
6. The torque angle control system of any one of claims 2-4, wherein two torque paths of a same torque channel are divided into a master torque path and a slave torque path;
the step of mutually verifying two torque signals in two torque paths of the same torque channel comprises the following steps:
comparing whether the torque signals of the master torque path and the slave torque path are within an error range;
If the torque signal is within the error range, checking and passing, outputting the torque signal of the main torque path to check the torque signals among different paths;
If the torque signal is not in the error range, the torque signal in the main torque path is trusted, the torque signal in the auxiliary torque path is determined to be an error signal, the torque signal of the main torque path is output, and fault diagnosis is carried out on the first torque path and the second torque path.
7. The torque corner control system of claim 1, wherein the first corner channel and the second corner channel each comprise a main channel and a following channel, the corner signal in the following channel is used for checking the corner signal of the main channel through a following algorithm, and when the corner signal in the following channel and the corner signal of the main channel fail to check, the corner signal in the corresponding corner channel is wrong.
8. An electronic power steering controller comprising a torque angle control system as claimed in any one of claims 1 to 4.
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| CN202110178722.6A CN114906208B (en) | 2021-02-08 | 2021-02-08 | Torque corner control system and electronic power steering controller |
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| CN105473420B (en) * | 2013-10-10 | 2017-07-11 | 日本精工株式会社 | Electric power-assisted steering apparatus |
| DE102015116937B4 (en) * | 2015-10-06 | 2018-10-31 | Robert Bosch Automotive Steering Gmbh | Method for operating a steering system of a motor vehicle |
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| DE10032182A1 (en) * | 2000-07-01 | 2002-01-17 | Daimler Chrysler Ag | Automobile steer-by-wire steering system has setting device providing steering resistance switched to emergency operating mode upon failure of steering angle sources |
| CN104417607A (en) * | 2013-08-29 | 2015-03-18 | 株式会社捷太格特 | Electric Power Steering System |
| CN106061796A (en) * | 2014-02-24 | 2016-10-26 | 日立汽车系统株式会社 | In-vehicle device controller and power steering device |
| CN106029471A (en) * | 2014-03-19 | 2016-10-12 | 日立汽车系统株式会社 | Power steering device and power steering device control device |
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